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Merge branch 'user/mshukor/smolvla_fix' into my-fix-based-on-pr-1175

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Dana Aubakirova
2025-06-03 15:32:02 +02:00
committed by GitHub
parent b41362a4aa 209f89a274
commit f01c6d06cf
3 changed files with 7 additions and 11 deletions
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4
lerobot/common/policies/smolvla/modeling_smolvla.py
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@@ -656,8 +656,8 @@ class VLAFlowMatching(nn.Module):
dtype = action_emb.dtype dtype = action_emb.dtype
# Embed timestep using sine-cosine positional encoding with sensitivity in the range [0, 1] # Embed timestep using sine-cosine positional encoding with sensitivity in the range [0, 1]
time_emb = create_sinusoidal_pos_embedding( time_emb = create_sinusoidal_pos_embedding(
timestep, self.vlm_with_expert.expert_hidden_size, self.config.min_period, self.config.max_period, device=device timestep, self.vlm_with_expert.expert_hidden_size, self.config.min_period, self.config.max_period, device=device)
)
time_emb = time_emb.type(dtype=dtype) time_emb = time_emb.type(dtype=dtype)
time_emb = time_emb[:, None, :].expand_as(action_emb) time_emb = time_emb[:, None, :].expand_as(action_emb)

8
tests/test_available.py
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@@ -21,6 +21,7 @@ import pytest
import lerobot import lerobot
from lerobot.common.policies.act.modeling_act import ACTPolicy from lerobot.common.policies.act.modeling_act import ACTPolicy
from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
from lerobot.common.policies.smolvla.modeling_smolvla import SmolVLAPolicy
from lerobot.common.policies.tdmpc.modeling_tdmpc import TDMPCPolicy from lerobot.common.policies.tdmpc.modeling_tdmpc import TDMPCPolicy
from lerobot.common.policies.vqbet.modeling_vqbet import VQBeTPolicy from lerobot.common.policies.vqbet.modeling_vqbet import VQBeTPolicy
from tests.utils import require_env from tests.utils import require_env
@@ -45,12 +46,7 @@ def test_available_policies():
This test verifies that the class attribute `name` for all policies is This test verifies that the class attribute `name` for all policies is
consistent with those listed in `lerobot/__init__.py`. consistent with those listed in `lerobot/__init__.py`.
""" """
policy_classes = [ policy_classes = [ACTPolicy, DiffusionPolicy, TDMPCPolicy, VQBeTPolicy, SmolVLAPolicy]
ACTPolicy,
DiffusionPolicy,
TDMPCPolicy,
VQBeTPolicy,
]
policies = [pol_cls.name for pol_cls in policy_classes] policies = [pol_cls.name for pol_cls in policy_classes]
assert set(policies) == set(lerobot.available_policies), policies assert set(policies) == set(lerobot.available_policies), policies